Methods &amp; architectures for end-to-end robot integration with elevators and building systems

ABSTRACT

A method of communication between a robot and an elevator system using a robot communication system including: collecting data on a landing of a building using a sensor system of the robot; and transmitting the data to the elevator system of the building, the data being transmitted to the elevator system directly from the robot, through a cloud computing network, or through a building system manager.

BACKGROUND

The subject matter disclosed herein relates generally to the field ofconveyance systems, and specifically to a method and apparatus forconnecting robots and conveyance system.

Conveyance systems such as, for example, elevator systems, escalatorsystems, and moving walkways are typically only configured to interactwith human beings alone.

BRIEF SUMMARY

According to an embodiment, a method of communication between a robotand an elevator system using a robot communication system is provided.The method including: collecting data on a landing of a building using asensor system of the robot; and transmitting the data to the elevatorsystem of the building, the data being transmitted to the elevatorsystem directly from the robot, through a cloud computing network, orthrough a building system manager.

In addition to one or more of the features described herein, or as analternative, further embodiments may include that the data istransmitted to the elevator system directly from the robot.

In addition to one or more of the features described herein, or as analternative, further embodiments may include that the data istransmitted to the elevator system directly from the robot.

In addition to one or more of the features described herein, or as analternative, further embodiments may include that the data istransmitted to the elevator system through the cloud computing network.

In addition to one or more of the features described herein, or as analternative, further embodiments may include: transmitting the data fromthe robot to a first wireless access protocol device; transmitting thedata from the first wireless access protocol device to the cloudcomputing network; transmitting the data from the cloud computingnetwork to a second wireless access protocol device; and transmittingthe data from the second wireless access protocol device to the elevatorsystem.

In addition to one or more of the features described herein, or as analternative, further embodiments may include: transmitting the data fromthe robot to a robot cloud computing network of the cloud computingnetwork; and transmitting the data from the robot cloud computingnetwork to the elevator system.

In addition to one or more of the features described herein, or as analternative, further embodiments may include: transmitting the data fromthe robot to a robot cloud computing network of the cloud computingnetwork; transmitting the data from the robot cloud computing network toan elevator system cloud computing network of the cloud computingnetwork; and transmitting the data from the elevator system cloudcomputing network to the elevator system.

In addition to one or more of the features described herein, or as analternative, further embodiments may include that the data istransmitted to the elevator system through the building system manager.

In addition to one or more of the features described herein, or as analternative, further embodiments may include that the data istransmitted to the building system manager directly from the robot.

In addition to one or more of the features described herein, or as analternative, further embodiments may include: a robot including a sensorconfigured to collect data on a landing of a building; and an elevatorsystem in communication with the robot, wherein the elevator system isin direct communication with the robot, is in communication with therobot through a cloud computing network, or is in communication with therobot through a building system manager.

In addition to one or more of the features described herein, or as analternative, further embodiments may include that the elevator system isin direct communication with the robot.

In addition to one or more of the features described herein, or as analternative, further embodiments may include that the elevator system isin direct communication with the robot.

In addition to one or more of the features described herein, or as analternative, further embodiments may include the cloud computingnetwork, wherein the elevator system is in communication with the robotthrough the cloud computing network.

In addition to one or more of the features described herein, or as analternative, further embodiments may include that a first wirelessaccess protocol device, wherein the robot is in communication with thecloud computing network through the first wireless access protocoldevice; and a second wireless access protocol device, wherein the cloudcomputing network is in communication with the elevator system throughthe second wireless access protocol device.

In addition to one or more of the features described herein, or as analternative, further embodiments may include: a robot cloud computingnetwork of the cloud computing network, wherein the robot is incommunication with the elevator system through the robot cloud computingnetwork.

In addition to one or more of the features described herein, or as analternative, further embodiments may include a robot cloud computingnetwork of the cloud computing network, wherein the robot is incommunication with the robot cloud computing network; and an elevatorsystem cloud computing network of the cloud computing network, whereinthe elevator system cloud computing network is in communication with therobot cloud computing network, and wherein the elevator system cloudcomputing network is in communication with the elevator system.

In addition to one or more of the features described herein, or as analternative, further embodiments may include that the elevator system isin communication with the robot through the building system manager.

In addition to one or more of the features described herein, or as analternative, further embodiments may include that the building systemmanager is in communication with the robot.

According to another embodiment, a computer program product embodied ona non-transitory computer readable medium is provided. The computerprogram product including instructions that, when executed by aprocessor, cause the processor to perform operations including:collecting data on a landing of a building using a sensor system of arobot; and transmitting the data to an elevator system of the building,the data being transmitted to the elevator system directly from therobot, through a cloud computing network, or through a building systemmanager.

Technical effects of embodiments of the present disclosure includeinterconnecting robots and conveyance system through cloud computingnetworks, direct wireless connection, and/or building system managers.

The foregoing features and elements may be combined in variouscombinations without exclusivity, unless expressly indicated otherwise.These features and elements as well as the operation thereof will becomemore apparent in light of the following description and the accompanyingdrawings. It should be understood, however, that the followingdescription and drawings are intended to be illustrative and explanatoryin nature and non-limiting.

BRIEF DESCRIPTION OF THE DRAWINGS

The present disclosure is illustrated by way of example and not limitedin the accompanying figures in which like reference numerals indicatesimilar elements.

FIG. 1 is a schematic illustration of an elevator system that may employvarious embodiments of the present disclosure;

FIG. 2 illustrates a schematic view of a robot communication system inaccordance with an embodiment of the disclosure;

FIG. 3 illustrates a schematic view of a robot communication system inaccordance with an embodiment of the disclosure; and

FIG. 4 is a flow chart of method of communication between a robot and anelevator system using the robot communication system of FIG. 2, inaccordance with an embodiment of the disclosure.

DETAILED DESCRIPTION

FIG. 1 is a perspective view of an elevator system 101 including anelevator car 103, a counterweight 105, a tension member 107, a guiderail 109, a machine 111, a position reference system 113, and acontroller 115. The elevator car 103 and counterweight 105 are connectedto each other by the tension member 107. The tension member 107 mayinclude or be configured as, for example, ropes, steel cables, and/orcoated-steel belts. The counterweight 105 is configured to balance aload of the elevator car 103 and is configured to facilitate movement ofthe elevator car 103 concurrently and in an opposite direction withrespect to the counterweight 105 within an elevator shaft 117 and alongthe guide rail 109.

The tension member 107 engages the machine 111, which is part of anoverhead structure of the elevator system 101. The machine 111 isconfigured to control movement between the elevator car 103 and thecounterweight 105. The position reference system 113 may be mounted on afixed part at the top of the elevator shaft 117, such as on a support orguide rail, and may be configured to provide position signals related toa position of the elevator car 103 within the elevator shaft 117. Inother embodiments, the position reference system 113 may be directlymounted to a moving component of the machine 111, or may be located inother positions and/or configurations as known in the art. The positionreference system 113 can be any device or mechanism for monitoring aposition of an elevator car and/or counter weight, as known in the art.For example, without limitation, the position reference system 113 canbe an encoder, sensor, or other system and can include velocity sensing,absolute position sensing, etc., as will be appreciated by those ofskill in the art.

The controller 115 is located, as shown, in a controller room 121 of theelevator shaft 117 and is configured to control the operation of theelevator system 101, and particularly the elevator car 103. For example,the controller 115 may provide drive signals to the machine 111 tocontrol the acceleration, deceleration, leveling, stopping, etc. of theelevator car 103. The controller 115 may also be configured to receiveposition signals from the position reference system 113 or any otherdesired position reference device. When moving up or down within theelevator shaft 117 along guide rail 109, the elevator car 103 may stopat one or more landings 125 as controlled by the controller 115.Although shown in a controller room 121, those of skill in the art willappreciate that the controller 115 can be located and/or configured inother locations or positions within the elevator system 101. In oneembodiment, the controller may be located remotely or in the cloud.

The machine 111 may include a motor or similar driving mechanism. Inaccordance with embodiments of the disclosure, the machine 111 isconfigured to include an electrically driven motor. The power supply forthe motor may be any power source, including a power grid, which, incombination with other components, is supplied to the motor. The machine111 may include a traction sheave that imparts force to tension member107 to move the elevator car 103 within elevator shaft 117.

Although shown and described with a roping system including tensionmember 107, elevator systems that employ other methods and mechanisms ofmoving an elevator car within an elevator shaft may employ embodimentsof the present disclosure. For example, embodiments may be employed inropeless elevator systems using a linear motor to impart motion to anelevator car. Embodiments may also be employed in ropeless elevatorsystems using a hydraulic lift to impart motion to an elevator car. FIG.1 is merely a non-limiting example presented for illustrative andexplanatory purposes.

In other embodiments, the system comprises a conveyance system thatmoves passengers between floors and/or along a single floor. Suchconveyance systems may include escalators, people movers, etc.Accordingly, embodiments described herein are not limited to elevatorsystems, such as that shown in FIG. 1. In one example, embodimentsdisclosed herein may be applicable conveyance systems such as anelevator system 101 and a conveyance apparatus of the conveyance systemsuch as an elevator car 103 of the elevator system 101. In anotherexample, embodiments disclosed herein may be applicable conveyancesystems such as an escalator system and a conveyance apparatus of theconveyance system such as a moving stair of the escalator system.

The elevator system 101 also includes one or more elevator doors 104.The elevator door 104 may be integrally attached to the elevator car 103and/or the elevator door 104 may be located on a landing 125 of theelevator system 101. Embodiments disclosed herein may be applicable toboth an elevator door 104 integrally attached to the elevator car 103and/or an elevator door 104 located on a landing 125 of the elevatorsystem 101. The elevator door 104 opens to allow passengers to enter andexit the elevator car 103.

Referring now to FIG. 2, with continued reference to FIG. 1, a robotcommunication system 200 is illustrated, in accordance with anembodiment of the present disclosure. It should be appreciated that,although particular systems are separately defined in the schematicblock diagrams, each or any of the systems may be otherwise combined orseparated via hardware and/or software. The robot communication system200 comprises and/or is in wireless communication with a robot 202. Itis understood that one robot 202 is illustrated, the embodimentsdisclosed herein may be applicable to robot communication system 200having one or more robots 202. The robot 202 may desire to utilize anelevator system 101 and the robot communication system 200 maycoordinate use of the elevator system 101 by the robot 202 andindividuals 190.

It is understood that while elevator systems 101 are utilized forexemplary illustration, embodiments disclosed herein may be applied toother conveyance systems utilizing conveyance apparatuses fortransportation such as, for example, escalators, moving walkways, etc.

As illustrated in FIG. 2, a building elevator system 100 within abuilding 102 may include multiple different individual elevator systems101 organized in an elevator bank 112. The elevator systems 101 eachinclude an elevator car 103 (not shown in FIG. 2 for simplicity). It isunderstood that while two elevator systems 101 are utilized forexemplary illustration, embodiments disclosed herein may be applied tobuilding elevator systems 100 having one or more elevator systems 101.Further, the elevator systems 101 illustrated in FIG. 2 are organizedinto an elevator bank 112 for ease of explanation but it is understoodthat the elevator systems 101 may be organized into one or more elevatorbanks 112. Each of the elevator banks 112 may contain one or moreelevator systems 101. Each of the elevator banks 112 may also be locatedon different landings.

The landing 125 in the building 102 of FIG. 2 may have an elevator calldevice 89 located proximate the elevator systems 101. The elevator calldevice 89 transmits an elevator call 380 to a dispatcher 350 of thebuilding elevator system 100. It should be appreciated that, althoughthe dispatcher is separately defined in the schematic block diagrams,the dispatcher 350 may be combined via hardware and/or software in anycontroller 115 or other device. The elevator call 380 may include thesource of the elevator call 380. The elevator call device 89 may includea destination entry option that includes the destination of the elevatorcall 380. The elevator call device 89 may be a push button and/or atouch screen and may be activated manually or automatically. Forexample, the elevator call 380 may be sent by an individual 190 or arobot 202 entering the elevator call 380 via the elevator call device89. As illustrated in FIG. 2, the robot 202 may utilize a communicationmodule 280 to communicate either directly to the building elevatorsystem 100 and indirectly with the building elevator system 100 througha computing network 232.

A mobile device 192 may also be configured to transmit an elevator call380. The robot 202 or the individual 190 may be in possession of themobile device 192 to transmit the elevator call 380. The mobile device192 may be a smart phone, smart watch, laptop, beacon, or any othermobile device known to one of skill in the art. The mobile device 192 beconfigured to transmit the elevator call 380 through computing network232 to the dispatcher 350. The mobile device 192 may communicate to thecomputer network 232 through a wireless access protocol device (WAP) 234using at least one of short-range wireless protocols and long-rangewireless protocols. Short-range wireless protocols may include, but arenot limited to, Bluetooth, Bluetooth Low Energy (BLE), Wi-Fi, HaLow(801.11ah), zWave, ZigBee, or Wireless M-Bus. Long-range wirelessprotocols may include, but not limited to, cellular, LTE (NB-IoT, CATM1), LoRa, satellite, Ingenu, or SigFox. Alternatively, the mobiledevice 192 may communicate directly with the computer network 232 usinglong-range wireless protocols.

The controllers 115 can be combined, local, remote, cloud, etc. Thedispatcher 350 may be local, remote, cloud, etc. The dispatcher 350 isin communication with the controller 115 of each elevator system 101.Alternatively, there may be a single controller that is common to all ofthe elevator systems 101 and controls all of the elevator system 101,rather than two separate controllers 115, as illustrated in FIG. 2. Thedispatcher 350 may be a ‘group’ software that is configured to selectthe best elevator car 103 to be assigned to the elevator call 380. Thedispatcher 350 manages the elevator call devices 89 related to theelevator bank 112.

The dispatcher 350 is configured to control and coordinate operation ofmultiple elevator systems 101. The dispatcher 350 may be an electroniccontroller including a processor 352 and an associated memory 354comprising computer-executable instructions that, when executed by theprocessor 352, cause the processor 352 to perform various operations.The processor 352 may be, but is not limited to, a single-processor ormulti-processor system of any of a wide array of possible architectures,including field programmable gate array (FPGA), central processing unit(CPU), application specific integrated circuits (ASIC), digital signalprocessor (DSP) or graphics processing unit (GPU) hardware arrangedhomogenously or heterogeneously. The memory 354 may be but is notlimited to a random access memory (RAM), read only memory (ROM), FLASH,or other electronic, optical, magnetic or any other computer readablemedium.

The dispatcher 350 is in communication with the elevator call devices 89of the building elevator system 100. The dispatcher 350 is configured toreceive the elevator call 380 transmitted from the elevator call device89, the mobile device 192, and/or the robot 202. The dispatcher 350 isconfigured to manage the elevators calls 380 coming in from the elevatorcall device 89, mobile devices 192, and/or the robot 202 then commandone or more elevator systems 101 to respond to elevator call 380.

The robot 202 may be configured to operate fully autonomously using acontroller 250 to control operation of the robot 202. The controller 250may be an electronic controller that includes a processor 252 and anassociated memory 254 including computer-executable instructions that,when executed by the processor 252, cause the processor 252 to performvarious operations. The processor 252 may be but is not limited to asingle-processor or multi-processor system of any of a wide array ofpossible architectures, including field programmable gate array (FPGA),central processing unit (CPU), application specific integrated circuits(ASIC), digital signal processor (DSP) or graphics processing unit (GPU)hardware arranged homogenously or heterogeneously. The memory 254 may bea storage device such as, for example, a random access memory (RAM),read only memory (ROM), or other electronic, optical, magnetic or anyother computer readable medium.

The robot 202 includes a power source 260 configured to power the robot202. The power source 260 may include an energy harvesting device and/oran energy storage device. In an embodiment, the energy storage devicemay be an onboard battery system. The battery system may include but isnot limited to a lithium ion battery system. The robot 202 may beconfigured to move to an external power source (e.g., electrical outlet)to recharge the power source 260.

The robot 202 includes a speaker 292 configured to communicate audiblewords, music, and/or sounds to individuals 190 located proximate therobot 202. The robot 202 also includes a display device 240 configuredto display information visually to individuals 190 located proximate therobot 202. For example, the display device 240 may be a flat screenmonitor, a computer tablet, or smart phone device. In an embodiment, thedisplay device 240 may be located on the head of the robot 202 or mayreplace the head of the robot 202. In an embodiment, the display device240 a computer tablet or similar display device that is carried by therobot 202.

The robot 202 may be stationed (i.e., located) permanently ortemporarily within an elevator lobby 310 that is located on the landing125 proximate the elevator system 101. The robot 202 may include apropulsion system 210 to move the robot 202. The robot 202 may movethroughout the elevator lobby 310, move away from the elevator lobby 310throughout the landing 125, and/or may move to other landings via theelevator system 101 and/or a stair case (not shown). The propulsionsystem 210 may be a leg system, as illustrated in FIG. 2, that simulateshuman legs. As illustrated in FIG. 2, the propulsion system 210 mayinclude two or more legs 212, which are used to move the robot 202. Itis understood that while the leg system is utilized for exemplaryillustration, embodiments disclosed herein may be applied to robotshaving other propulsion systems for transportation such as, for example,a wheel system, a rotorcraft system, a hovercraft system, a treadsystem, or any propulsion system may be known of skill in the art may beutilized. It is also understood that a robot 202 having a humanoidappearance is utilized for exemplary illustration, embodiments disclosedherein may be applied to robots that do not have a humanoid appearance.

The robot 202 includes a sensor system 270 to collect sensor data. Thesensor system 270 may include, but is not limited, to an inertialmeasurement unit (IMU) sensor 276, a camera 272, a microphone 274, alocation sensor system 290, a load detection system 278, and a peoplecounter system 279. The IMU sensor 276 is configured to detectaccelerations of the robot 202. The IMU sensor 276 may be a sensor suchas, for example, an accelerometer, a gyroscope, or a similar sensorknown to one of skill in the art. The IMU sensor 276 may detectaccelerations as well as derivatives or integrals of accelerations, suchas, for example, velocity, jerk, jounce, snap . . . etc.

The camera 272 may be configured to capture images of areas surroundingthe robot 202. The camera 272 may be a still image camera, a videocamera, depth sensor, thermal camera, and/or any other type of imagingdevice known to one of skill in the art. In one embodiment, thecontroller 250 may be configured to analyze the images captured by thecamera 272 using image recognition to identify an individual 190. Inanother embodiment, the controller 250 may be configured to transmit theimages as raw data for processing by the building system manager 320.The image recognition may identify the individual 190 using facialrecognition. When an individual 190 is identified as a specific person,then the robot 202 may transmit an elevator call 380 to the dispatcher350. For example, the image recognition may identify the individual 190as the CEO of the company that works on the seventh floor and then therobot 202 may transmit an elevator call 380 so that an elevator car 103and ready to pick up the CEO when the CEO arrives at the elevator bank112.

The microphone 274 is configured to detect sound. The microphone 274 isconfigured to detect audible sound proximate the robot 202, such as, forexample, language spoken an individual 190 proximate the robot 202. Inone embodiment, the controller 250 may be configured to analyze thesound captured by the microphone 274 using language recognition softwareand respond accordingly. In another embodiment, the controller 250 maybe configured to transmit the sound as raw data for processing by thebuilding system manager 320. The sound (i.e., voice) from an individual190 may be analyzed to identify the individual 190 using voicerecognition.

In one embodiment, the controller 250 may be configured to analyze thesound captured by the microphone 274 using voice recognition to identifyan individual 190. In another embodiment, the controller 250 may beconfigured to transmit the sound as raw data for processing by thebuilding system manager 320. When an individual 190 is identified as aspecific person, then the robot 202 may transmit an elevator call 380 tothe dispatcher 350. For example, the voice recognition may identify theindividual 190 as the CEO of the company that works on the seventh floorand then the robot 202 may transmit an elevator call 380 so that anelevator car 103 and ready to pick up the CEO when the CEO arrives atthe elevator bank 112.

Each individual 190 may have their own robot ride-share preference. Forexample, some individuals 190 may not like to ride in an elevator car103 with a robot 202, whereas other individuals 190 may not mind. Theindividual 190 may include a robot ride-share preference when they sendthe elevator call 380 from the mobile device 192 or the elevator calldevice 89. Additionally, the individual 190 may identify their rideshare preference in advance and these robot ride-share preferences maybe stored in at least one of the building system manager 320 and thedispatcher 350 in a robot ride-share preference list. The dispatcher 350may consult the robot ride-share preference list prior to calling anelevator car 103 to answer an elevator call 380 received from anindividual 190 and an elevator call 380 received from a robot 202. Forexample, a robot 202 may not be assigned to an elevator car 103 with anindividual 190 who prefers not to ride in the elevator car 103 withrobots 202. The individuals may be identified through visualrecognition, voice recognition, and/or user identification data enclosedwith the elevator call 380 and their robot ride-share preference lookedup by the dispatcher 350.

Alternatively, the dispatcher 350 may coordinate one or more robots 202to all ride together in a single elevator car 103 to avoid interactionwith individuals 190 (e.g., all robot cars). The dispatcher 350 maycancel elevator calls 380 received from robots 202 and/or instruct therobot 202 to wait if the traffic from individuals 190 is high at a giventime. The dispatcher 350 may instruct the robot 202 to take the stairsor an escalator. The dispatcher 350 may instruct the robot 202 to moveto another elevator bank if one particular elevator bank is busy.

The robot 202 may utilize a load carrying mechanism 220 to deliveritems. In FIG. 2, the load carrying mechanism are arms of the robot 202.It is understood that load the arms of the robot 202 are an example andthe robot 202 may utilize other load carrying mechanism, such as, forexample, a pallet, a crane, a flat bed, secure compartment, or otherload carrying mechanism known to one of skill in the art. Additionally,the robot may be utilized to pull or tow an item, such as, for example,a hospital bed or a wheel chair. In other embodiment, the robot 202 maybe an autonomous hospital bed or an autonomous wheel chair.

The load detection system 278 may be configured to detect a weight ofthe load being carried or pushed by the load carrying mechanism 220. Arobot 202 may be directed to certain elevator cars 103 based on theweight detected by the load detection system 278. For example, a robot202 carrying an excessively heavy load may be directed to ride a freightelevator that is configured to handle excess load. Additionally, if theload being carried by two robots 202 exceeds the weight limits of anelevator car 103, the robots 202 may be instructed to ride separately.

Each elevator call 380 transmitted by a robot 202 may include a callcode that may indicate the type of elevator call 380 including the itembeing transported by the robot 202 and/or the urgency of the elevatorcall 380. In one example, the call code may indicate that the robot 202is transporting laundry, which may not be considered urgent. In anotherexample, the call code may indicate that the robot 202 is transportingtransplant organs, which may be considered urgent. When the dispatcher350 receives the elevator call 380 the dispatcher 350 will analyze thecode and determine its urgency in comparison to other elevator calls 380received. Elevator calls 380 that are most urgent will be assignedfirst, while those that are not urgent may be relegated to wait. Callcodes may also be included and/or applied to elevator calls 380 receivedfrom individuals. In one example, each elevator call 380 transmitted mayreceive the same call code, meaning that the every elevator call 380from an individual 190 would be treated with the same priority and arobot 202 that has an urgent call code may take higher priority than thecall code of the individuals 190 whereas a robot 202 with a non-urgentcall code may take a lower priority than the call code of theindividuals 190. In another example, different individuals 190 may beassigned a different call codes based on either a VIP status or based onjob roles. Further, an emergency room physicians may have a call codethat gives them the highest priorities over other call codes.

The robot 202 also includes a location sensor system 290 configured todetect a location 302 of the robot 202. The location 302 of the robot202 may also include the location 302 of the robot 202 relative to otherobjects in order allow the robot 202 to navigate through hallways of abuilding 102 and prevent the robot 202 from bumping into objects orindividuals 190. The location sensing system 290 may use one or acombination or sensing devices including but not limited to GPS,wireless signal triangulation, SONAR, RADAR, LIDAR, image recognition,or any other location detection or collision avoidance system known toone of skill in the art. The location sensor system 290 may utilize GPSin order to detect a location 302 of the robot 202. The location sensorsystem 290 may utilize triangulation of wireless signals within thebuilding 102 in order to determine a location 302 of the robot 202within a building 102. For example, the location sensor system 290 maytriangulate the position of the robot 202 within a building 102utilizing received signal strength (e.g., RSSI) of wireless signals fromWAPs 234 in known locations throughout the building 102. In order toavoid colliding with objects, the location sensor system 290 mayadditionally use SONAR, RADAR, LIDAR, or image recognition(Convolutional Neural Networks). Upon initial deployment or a locationreset, the robot 202 may perform a learn mode, such that the robot 202may become familiar with the environment.

The location 302 of the robot 202 may also be communicated to thedispatcher 350 when the robot 202 desires to use the elevator system101. By knowing the location 302 of the robot 202, the distance awayfrom the elevator bank 112 (e.g., elevator system 101) along a probablepath 304, and the movement speed of the robot 202, then the dispatcher350 may call an elevator car 103 to arrive at the elevator bank 112 ator before when the robot 202 arrives at the elevator bank 112. Use ofthe elevator systems 101 may be limited to learnt periods of low trafficof individuals 190. The traffic patterns of individuals 190 may belearnt using the people counter system 279 or a people counter device92.

The robot 202 includes a communication module 280 configured to allowthe controller 250 of the robot 202 to communicate with the buildingsystem manager 320 and the dispatcher 350. The communication module 280is capable of transmitting and receiving data to and from the dispatcher350 through a computer network 232. The computer network 232 may be acloud computing network. The communication module 280 is capable oftransmitting and receiving data to and from the building system manager320 through the computer network 232. In another embodiment, thecommunication module 280 is capable of transmitting and receiving datato and from the dispatcher 350 by communicating directly with thedispatcher 350.

The communication module 280 may communicate to the computer network 232through a wireless access protocol device (WAP) 234 using at least oneof short-range wireless protocols and long-range wireless protocols.Alternatively, the communication module 280 may communicate directlywith the computer network 232 using long-range wireless protocols.Alternatively, the communication module 280 may communicate with thedispatcher 350 through the building system manager 320. Thecommunication module 280 may be in direct communication with thebuilding system manager 320 using short-range wireless protocols.

The communication module 280 may communicate to the dispatcher 350through a WAP 234 using at least one of short-range wireless protocolsand long-range wireless protocols. Alternatively, the communicationmodule 280 may communicate directly with the dispatcher 350 usingshort-range wireless protocols.

The building system manager 320 may communicate to the computer network232 through a WAP 234 using at least one of short-range wirelessprotocols and long-range wireless protocols. The building system manager320 may communicate directly with the computer network 232 usinglong-range wireless protocols.

The building system manager 320 is an electronic controller thatincludes a processor 322 and an associated memory 324 includingcomputer-executable instructions that, when executed by the processor322, cause the processor 322 to perform various operations. Theprocessor 322 may be but is not limited to a single-processor ormulti-processor system of any of a wide array of possible architectures,including field programmable gate array (FPGA), central processing unit(CPU), application specific integrated circuits (ASIC), digital signalprocessor (DSP) or graphics processing unit (GPU) hardware arrangedhomogenously or heterogeneously. The memory 324 may be a storage devicesuch as, for example, a random access memory (RAM), read only memory(ROM), or other electronic, optical, magnetic or any other computerreadable medium.

The building system manager 320 may be configured to obtain, store, andprovide to the robot 202 information that may be useful to the robot202. The information may include a directory of the building 102processor including images of individuals 190 that may be used forfacial recognition or voice signatures of individuals 190 that may beused for voice recognition of individuals 190. The information may alsoinclude directory information of people or locations within the building102 and/or in the area surrounding the building 102. The building systemmanager 320 may also perform climate control within the building 102and/or building access control for the building 102.

The people counter system 279 is configured to detect or determine apeople count. The people count may be a number of individuals 190located on a landing 125 or more specifically a number of individuals190 located in an elevator lobby 310 on a landing 125. The people countmay be an exact number of individuals 190 or an approximate number ofindividuals 190.

The people counter system 279 may utilize the camera 272 for peoplecounting. The people counter system 279 may be used to determine anumber of individuals 190 proximate the elevator systems 101, a numberof individuals 190 within an elevator lobby 310 proximate the elevatorsystems 101, and/or a number of individuals 190 on their way to theelevator system 101. Individuals 190 being located proximate theelevator system 101 and/or within the elevator lobby 310 is indicativethat the individuals 190 would like to board an elevator car 103 of theelevator system 101.

The people counter system 279 may utilize one or more detectionmechanisms of the robot 202, such as, for example the camera 272, adepth sensing device, a radar device, a laser detection device, a mobiledevice (e.g., cell phone) tracker using the communication device 280,and/or any other desired device capable of sensing the presence ofindividuals 190. The people counter system 279 utilizes the camera 272for visual recognition to identify individual individuals 190 andobjects in elevator lobby 310. The laser detection device may detect howmany passengers walk through a laser beam to determine the number ofindividuals 190. The thermal detection device may be an infrared orother heat sensing camera that utilizes detected temperature to identifyindividual individuals 190 and objects and then determine the number ofindividuals 190. The depth detection device may be a 2-D, 3-D or otherdepth/distance detecting camera that utilizes detected distance to anobject and/or individuals 190 to determine the number of individuals190. The communication device 280 may act as a mobile device tracker maydetermine a number of individuals 190 on a landing 125 or in elevatorlobby 310 by detecting mobile device wireless signals and/or detectinghow many mobile devices are utilizing a specific application on themobile device within the building 102 on the landing 125. As may beappreciated by one of skill in the art, in addition to the statedmethods, additional methods may exist to sense the number of individuals190 and one or any combination of these methods may be used to determinethe number of individuals 190 in the elevator lobby 310, on the landing125, or on their way to the elevator system 101.

In one embodiment, the people counter system 279 is able to detect thepeople count through image pixel counting. The people count may comparea current image of the elevator lobby 310 to a stock image of theelevator lobby 310. For example, the people counter system 279 mayutilize pixel counting by capturing a current image of the elevatorlobby 310 and comparing the current image of the elevator lobby 310 to astock image of the elevator lobby 310 that illustrates the elevatorlobby 310 with zero individuals 190 present or a known number ofindividuals 190 present. The number of pixels that are different betweenthe stock image of the elevator lobby 310 and the current image of theelevator lobby 310 may correlate with the people count within theelevator lobby 310. It is understood that the embodiments disclosedherein are not limited to pixel counting to determine a people count andthus a people count may be determined utilizing other method includingbut not limited to video analytics software. Video analytics mayidentify individuals 190 from stationary objections and count eachperson separately to determine a total number of individuals 190.

The people count may be determined using a machine learning, deeplearning, and/or artificial intelligence module. The artificialintelligence module can be located in the robot 202, within the buildingsystem manager 320 or dispatcher 350. The people count may alternativelybe expressed as a percentage from zero-to-one-hundred percent indicatingwhat percentage of pixels are different between the stock image of theelevator lobby 310 and the current image of the elevator lobby 310. Thepeople count of the elevator lobby 310 may be expressed as a scale ofone-to-ten (e.g., one being empty and ten being full) indicating whatpercentage of pixels are different between the stock image of theelevator lobby 310 and the current image of the elevator lobby 310. Thepeople count may be expressed as an actual or estimated number ofindividuals 190, which may be determined in response to the number ofpixels that are different between the stock image of the elevator lobby310 and the current image of the elevator lobby 310.

The landing 125 in the building 102 of FIG. 2 may also include a peoplecounter device 92 that works in collaboration with the people countersystem 279 of the robot 202 to determine the people count. The peoplecounter device 92 may include one or more detection mechanisms in theelevator lobby 310, such as, for example a weight sensing device, avisual recognition device, depth sensing device, radar device, a laserdetection device, mobile device (e.g., cell phone) tracking, and/or anyother desired device capable of sensing the presence of individuals 190.The visual recognition device may be a camera that utilizes visualrecognition to identify individual individuals 190 and objects inelevator lobby 310. The weight detection device may be a scale to sensethe amount of weight in an elevator lobby 310 and then determine thenumber of individuals 190. The laser detection device may detect howmany passengers walk through a laser beam to determine the number ofindividuals 190 in the elevator lobby 310. The thermal detection devicemay be an infrared or other heat sensing camera that utilizes detectedtemperature to identify individual individuals 190 and objects in theelevator lobby 310 and then determine the number of individuals 190. Thedepth detection device may be a 2-D, 3-D or other depth/distancedetecting camera that utilizes detected distance to an object and/orindividuals 190 to determine the number of passengers. The mobile devicetracking may determine a number of individuals 190 on a landing 125 orin elevator lobby 310 by detecting mobile device wireless signals and/ordetecting how many mobile devices are utilizing a specific applicationon the mobile device within the building 102 on the landing 125 or inthe elevator lobby 310. As may be appreciated by one of skill in theart, in addition to the stated methods, additional methods may exist tosense the number of individuals 190 and one or any combination of thesemethods may be used to determine the number of individuals 190 in theelevator lobby 310 or on the landing 125.

In one embodiment, the people counter device 92 is able to detect thepeople count through image pixel counting. The people count may comparea current image of the elevator lobby 310 to a stock image of theelevator lobby 310. For example, the people counter device 92 mayutilize pixel counting by capturing a current image of the elevatorlobby 310 and comparing the current image of the elevator lobby 310 to astock image of the elevator lobby 310 that illustrates the elevatorlobby 310 with zero individuals 190 present or a known number ofindividuals 190 present. The number of pixels that are different betweenthe stock image of the elevator lobby 310 and the current image of theelevator lobby 310 may correlate with the people count within theelevator lobby 310. It is understood that the embodiments disclosedherein are not limited to pixel counting to determine a people count andthus a people count may be determined utilizing other method includingbut not limited to video analytics software. Video analytics mayidentify individuals 190 from stationary objections and count eachperson separately to determine a total number of individuals 190.

The people count may be determined using a machine learning, deeplearning, and/or artificial intelligence module. The artificialintelligence module can be located in the people counter device 92 or ina separate module in the dispatcher 350. The separate module may be ableto communicate with the people counter device 92. The people count mayalternatively be expressed as a percentage from zero-to-one-hundredpercent indicating what percentage of pixels are different between thestock image of the elevator lobby 310 and the current image of theelevator lobby 310. The people count of the elevator lobby 310 may beexpressed as a scale of one-to-ten (e.g., one being empty and ten beingfull) indicating what percentage of pixels are different between thestock image of the elevator lobby 310 and the current image of theelevator lobby 310. The people count may be expressed as an actual orestimated number of individuals 190, which may be determined in responseto the number of pixels that are different between the stock image ofthe elevator lobby 310 and the current image of the elevator lobby 310.

The people count determined by at least one of people counter system 279of the robot 202 and the people counter device 92 may be transmitted tothe dispatcher 350 to adjust operation of the elevator systems 101. Forexample, if the people count is high meaning that there are a largenumber of individuals 190 then the dispatcher 350 will send moreelevator cars 103 to the elevator lobby 310.

Advantageously, the robot 202 is able to move away from the elevatorlobby 310 and thus may be able to detect crowds of individuals 190 inadvance of the crowd of individuals 190 reaching the elevator lobby 310.The crowd of individuals 190 the dispatcher 350 may then be reported tothe dispatcher 350 and the dispatcher 350 may call elevators cars 103 inadvance of the crowd of individuals 190 reaching the elevator lobby 310,which advantageously saves time by helping to clear out the crowd ofindividuals 190 from the elevator lobby 310 faster.

Additionally, the robot 202 may also serve as a security guard for thebuilding 102 by utilizing the people counter system 279 and/or thecamera 272 to detect individuals 190 that should not be located in thebuilding 102. In one example, the camera 272 may be utilized identifyeach individual 190 within the building 102 through facial recognitionand if the individual 190 is not authorized to be in the building 102 ora specific section/room of the building 102 (i.e., determined to be anintruder) then the robot 202 may activate an intruder alert and/orcontact the building system manager 320. The intruder alert may be anvisual light display or an audible alarm of the building system manager320. The facial recognition determination may be compared to a databaseimages of individuals 190 authorized to be within the building 102and/or database images of individuals 190 not authorized to be withinthe building 102. If the building 102 has multiple different sections orlandings 125 with different security requirements then robot 202 may beconfigured to travel throughout the building 102 to ensure thatindividuals 190 are authorized to be in the section or room of thebuilding 102. Further, if individuals 190 are detected within thebuilding 102 at unusual times or unauthorized times, then the robot 202may activate an intruder alert and/or contact the building systemmanager 320. For example, if an individual 190 is detected after thebuilding 102 has closed then the robot 202 may activate an intruderalert and/or contact the building system manager 320.

Referring now to FIG. 3, with continued reference to FIGS. 1-2, multipledifferent communication pathways 400 a, 400 b, 400 c, 400 d between therobot 202 and the dispatcher 350 of the building elevator system 100 areillustrated, in accordance with an embodiment of the present disclosure.It is understood that while four examples of communication pathways 400a, 400 b, 400 c, 400 d are illustrated, the embodiments disclosed hereinare not limited to the four communication pathways 400 a, 400 b, 400 c,400 d illustrated and may be application to any communication pathway.

FIG. 3 illustrates a first communication pathway 400 a that directlyconnects the robot 202 with the dispatcher 350 or any other localelevator system (e.g. an elevator call that may be wirelesslytransmitted to local network of the elevator system and then relayed tothe dispatcher 350 via the local network). In the embodiment illustratedin FIG. 3 by the first communication pathway 400 a, the robot 202 may bein direct wireless communication with the dispatcher 350 usingshort-range wireless protocols.

FIG. 3 illustrates a second communication pathway 400 b that connectsthe robot 202 to the dispatcher 350 through the computing network 232.In the embodiment illustrated in FIG. 3 by the second communicationpathway 400 b, the robot 202 is in wireless communication with thecomputing network 232 through a first WAP 234 a. The robot 202 is inwireless communication with a first WAP 234 a through at least one ofshort-range wireless protocols and long-range wireless protocols. Thecomputing network 232 is in communication with the dispatcher 350through a second WAP 234 b. The second WAP 234 b is in wirelesscommunication with the dispatcher 350 through at least one ofshort-range wireless protocols and long-range wireless protocols. In anembodiment, the second WAP 234 b may be the first WAP 234 a.

FIG. 3 illustrates a third communication pathway 400 c that connects therobot 202 to the dispatcher 350 through the computing network 232. Inthe embodiment illustrated in FIG. 3 by the third communication pathway400 c, the robot 202 is in wireless communication with the computingnetwork 232 through a first WAP 234 a. The robot 202 may be in wirelesscommunication with a first WAP 234 a through at least one of short-rangewireless protocols and long-range wireless protocols.

As illustrated in FIG. 3, a cloud computing network 232 may be composedof a robot cloud computing network 232 a and an elevator system cloudcomputing network 232 b. In a first example, the robot 202 is configuredto communicate with the robot cloud computing network 232 a and therobot cloud computing network 232 a may communicate to the dispatcher350 through a second WAP. The second WAP 234 b may be in wirelesscommunication with the dispatcher 350 through at least one ofshort-range wireless protocols and long-range wireless protocols. In anembodiment, the second WAP 234 b may be the first WAP 234 a.

In a second example, the robot 202 is configured to communicate with therobot cloud computing network 232 a and the robot cloud computingnetwork 232 a may communicate with the elevator system cloud computingnetwork 232 b. The elevator system cloud computing network 232 b is incommunication with the dispatcher 350 through a second WAP 234 b. Thesecond WAP 234 b may be in wireless communication with the dispatcher350 through at least one of short-range wireless protocols andlong-range wireless protocols. In an embodiment, the second WAP 234 bmay be the first WAP 234 a.

FIG. 3 illustrates a fourth communication pathway 400 d that connectsthe robot 202 with the dispatcher 350 through the building systemmanager 320. In the embodiment illustrated in FIG. 3 by the fourthcommunication pathway 400 d, the robot 202 is in direct wirelesscommunication with the building system manager 320 using short-rangewireless protocols and the building system manager 320 is incommunication with the dispatcher 350. The building system managerconnected to the dispatcher 350 via web APIs (e.g., a cloud), serial anddiscreet I/O connections.

Referring now to FIG. 4, with continued reference to FIGS. 1-3, a flowchart of method 500 of communication between a robot and an elevatorsystem using the robot communication system 200 of FIG. 2, isillustrated, in accordance with an embodiment of the disclosure.

At block 504, data is collected on a landing of a building using asensor system 270 of a robot 202. At block 506, the data is transmittedto an elevator system 101 of the building 102. The data may betransmitted to the elevator system 101 directly from the robot 202,through a cloud computing network 232, or through a building systemmanager 320.

In an embodiment, the data is transmitted to the elevator system 101directly from the robot 202. The data may be transmitted to the elevatorsystem 101 directly from the robot 202 using a short-range wirelessprotocol.

In another embodiment, the data is transmitted to the elevator system101 through the cloud computing network 232.

In another embodiment, the data is transmitted from the robot 202 to afirst WAP 234 a, then the data is transmitted from the first WAP 234 ato the cloud computing network 232, then the data is transmitted fromthe cloud computing network 232 to a second WAP 234 b, and then the datais transmitted from the second WAP 234 b to the elevator system 101.

In another embodiment, the data is transmitted from the robot 202 to arobot cloud computing network 232 a of the cloud computing network 232and then the data is transmitted from the robot cloud computing network232 a to the elevator system 101.

In another embodiment, the data is transmitted from the robot 202 to arobot cloud computing network 232 a of the cloud computing network 232,then the data is transmitted from the robot cloud computing network 232a to the elevator system cloud computing network 232 a of the cloudcomputing network 232, and then the data is transmitted from theelevator system cloud computing network 232 a to the elevator system101.

In another embodiment, the data is transmitted to the elevator system101 through the building system manager 320. The data may be transmittedto the building system manager 320 directly from the robot 202 using ashort-range wireless protocol.

While the above description has described the flow process of FIG. 4 ina particular order, it should be appreciated that unless otherwisespecifically required in the attached claims that the ordering of thesteps may be varied.

The present invention may be a system, a method, and/or a computerprogram product at any possible technical detail level of integration.The computer program product may include a computer readable storagemedium (or media) having computer readable program instructions thereonfor causing a processor to carry out aspects of the present invention.

The computer readable storage medium can be a tangible device that canretain and store instructions for use by an instruction executiondevice. The computer readable storage medium may be, for example, but isnot limited to, an electronic storage device, a magnetic storage device,an optical storage device, an electromagnetic storage device, asemiconductor storage device, or any suitable combination of theforegoing. A non-exhaustive list of more specific examples of thecomputer readable storage medium includes the following: a portablecomputer diskette, a hard disk, a random access memory (RAM), aread-only memory (ROM), an erasable programmable read-only memory (EPROMor Flash memory), a static random access memory (SRAM), a portablecompact disc read-only memory (CD-ROM), a digital versatile disk (DVD),a memory stick, a floppy disk, a mechanically encoded device such aspunch-cards or raised structures in a groove having instructionsrecorded thereon, and any suitable combination of the foregoing. Acomputer readable storage medium, as used herein, is not to be construedas being transitory signals per se, such as radio waves or other freelypropagating electromagnetic waves, electromagnetic waves propagatingthrough a waveguide or other transmission media (e.g., light pulsespassing through a fiber-optic cable), or electrical signals transmittedthrough a wire.

The term “about” is intended to include the degree of error associatedwith measurement of the particular quantity and/or manufacturingtolerances based upon the equipment available at the time of filing theapplication.

The terminology used herein is for the purpose of describing particularembodiments only and is not intended to be limiting of the presentdisclosure. As used herein, the singular forms “a”, “an” and “the” areintended to include the plural forms as well, unless the context clearlyindicates otherwise. It will be further understood that the terms“comprises” and/or “comprising,” when used in this specification,specify the presence of stated features, integers, steps, operations,elements, and/or components, but do not preclude the presence oraddition of one or more other features, integers, steps, operations,element components, and/or groups thereof.

Those of skill in the art will appreciate that various exampleembodiments are shown and described herein, each having certain featuresin the particular embodiments, but the present disclosure is not thuslimited. Rather, the present disclosure can be modified to incorporateany number of variations, alterations, substitutions, combinations,sub-combinations, or equivalent arrangements not heretofore described,but which are commensurate with the scope of the present disclosure.Additionally, while various embodiments of the present disclosure havebeen described, it is to be understood that aspects of the presentdisclosure may include only some of the described embodiments.Accordingly, the present disclosure is not to be seen as limited by theforegoing description, but is only limited by the scope of the appendedclaims.

What is claimed is:
 1. A method of communication between a robot and anelevator system using a robot communication system, the methodcomprising: collecting data on a landing of a building using a sensorsystem of the robot; and transmitting the data to the elevator system ofthe building, the data being transmitted to the elevator system directlyfrom the robot, through a cloud computing network, or through a buildingsystem manager.
 2. The method of claim 1, wherein the data istransmitted to the elevator system directly from the robot.
 3. Themethod of claim 1, wherein the data is transmitted to the elevatorsystem directly from the robot.
 4. The method of claim 1, wherein thedata is transmitted to the elevator system through the cloud computingnetwork.
 5. The method of claim 4, further comprising: transmitting thedata from the robot to a first wireless access protocol device;transmitting the data from the first wireless access protocol device tothe cloud computing network; transmitting the data from the cloudcomputing network to a second wireless access protocol device; andtransmitting the data from the second wireless access protocol device tothe elevator system.
 6. The method of claim 4, further comprising:transmitting the data from the robot to a robot cloud computing networkof the cloud computing network; and transmitting the data from the robotcloud computing network to the elevator system.
 7. The method of claim4, further comprising: transmitting the data from the robot to a robotcloud computing network of the cloud computing network; transmitting thedata from the robot cloud computing network to an elevator system cloudcomputing network of the cloud computing network; and transmitting thedata from the elevator system cloud computing network to the elevatorsystem.
 8. The method of claim 1, wherein the data is transmitted to theelevator system through the building system manager.
 9. The method ofclaim 8, wherein the data is transmitted to the building system managerdirectly from the robot.
 10. A robot communication system, thecomprising: a robot comprising a sensor configured to collect data on alanding of a building; and an elevator system in communication with therobot, wherein the elevator system is in direct communication with therobot, is in communication with the robot through a cloud computingnetwork, or is in communication with the robot through a building systemmanager.
 11. The robot communication system of claim 10, wherein theelevator system is in direct communication with the robot.
 12. The robotcommunication system of claim 10, wherein the elevator system is indirect communication with the robot.
 13. The robot communication systemof claim 10, further comprising: the cloud computing network, whereinthe elevator system is in communication with the robot through the cloudcomputing network.
 14. The robot communication system of claim 13,further comprising: a first wireless access protocol device, wherein therobot is in communication with the cloud computing network through thefirst wireless access protocol device; and a second wireless accessprotocol device, wherein the cloud computing network is in communicationwith the elevator system through the second wireless access protocoldevice.
 15. The robot communication system of claim 13, furthercomprising: a robot cloud computing network of the cloud computingnetwork, wherein the robot is in communication with the elevator systemthrough the robot cloud computing network.
 16. The robot communicationsystem of claim 13, further comprising: a robot cloud computing networkof the cloud computing network, wherein the robot is in communicationwith the robot cloud computing network; and an elevator system cloudcomputing network of the cloud computing network, wherein the elevatorsystem cloud computing network is in communication with the robot cloudcomputing network, and wherein the elevator system cloud computingnetwork is in communication with the elevator system.
 17. The robotcommunication system of claim 10, wherein the elevator system is incommunication with the robot through the building system manager. 18.The robot communication system of claim 10, wherein the building systemmanager is in communication with the robot.
 19. A computer programproduct embodied on a non-transitory computer readable medium, thecomputer program product including instructions that, when executed by aprocessor, cause the processor to perform operations comprising:collecting data on a landing of a building using a sensor system of arobot; and transmitting the data to an elevator system of the building,the data being transmitted to the elevator system directly from therobot, through a cloud computing network, or through a building systemmanager.